Facial paralysis rehabilitation training robot

Abstract

The utility model provides a facial paralysis rehabilitation training robot which comprises a head-mounted robot body, a power system and a traction system, and the power system and the traction system are both installed on the head-mounted robot body. The head-mounted robot body is provided with a guide panel, the traction system passes through the guide panel from the head-mounted robot body and extends to a face area, and / or the traction system does not pass through the guide panel from the head-mounted robot body and extends to the face area; and the power system drives the traction system to pull or relax target facial muscles of the patient. The traction system is driven by the power system to move, appropriate force and resistance are applied to facial muscles of a patient to promote movement and activity of the muscles, the activity range of the facial muscles can be increased, neuromuscular connection can be improved, recovery of facial expressions can be promoted, and appropriate force and resistance can be provided; therefore, the patient is helped to gradually recover the functions of facial muscles.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation medical equipment, and in particular to a facial paralysis rehabilitation training robot. Background Art

[0002] Bell's palsy is an acute unilateral paralysis of the facial nerve, which causes the patient to completely or partially lose the ability to move the facial muscles on the affected side of the face. Patients mainly show unilateral weakness of the facial muscles, resulting in asymmetry of the entire facial area. Due to the inability to control the facial muscles, the facial movements of patients with facial palsy are often not flexible enough, and there will be other symptoms, including drooling, speech disorders, and nasal congestion. Although facial palsy is not life-threatening, it is still relatively common and can have a really serious impact on a person's quality of life, with important consequences in terms of psychological impact and physiological burden. Bell's palsy accounts for 65% to 75% of peripheral facial nerve palsy cases, with an incidence of 20 to 30 cases per 100,000 people per year. At present, rehabilitation training for patients with Bell's palsy usually requires professional physical therapists to conduct rehabilitation training.

[0003] The existing Chinese patent application document with publication number CN207286301U discloses a facial paralysis rehabilitation device for neurology, including a seat, a turntable is rotatably installed on the left and right sides of the seat respectively, each of the turntables is eccentrically provided with a curved arm and a handle, the curved arm includes a mounting section connected to the turntable and a vertically extending free section, each of the free sections is connected with a mask half body adapted to the human face shape, the two mask halves are connected by an elastic element, each of the mask halves is provided with an arcuate slide, the arcuate slide extends from the lower end of the mask half body to the upper end of the mask half body, a ball is slidably installed in the arcuate slide, and the ball near the face position protrudes from the surface of the mask half body.

[0004] In the facial paralysis rehabilitation device in the prior art, when the mask half moves left and right, the ball can slide up and down in the arc-shaped slideway, so that the ball can stimulate the patient's face in the up and down directions. It is difficult to carry out targeted training of facial muscles, the applicability is poor, and there is room for improvement. Utility Model Content

[0005] In view of the defects in the prior art, the purpose of the utility model is to provide a facial paralysis rehabilitation training robot.

[0006] According to the utility model, a facial paralysis rehabilitation training robot is provided, including a head-mounted robot body, a power system and a traction system, wherein both the power system and the traction system are installed on the head-mounted robot body; a guide panel is provided on the head-mounted robot body, and the traction system extends from the head-mounted robot body through the guide panel to the facial area, and / or the traction system extends from the head-mounted robot body to the facial area without passing through the guide panel; the power system drives the traction system to stretch or relax the target facial muscles of the patient.

[0007] Preferably, the traction system comprises a traction rope, medical tape and a roller, one end of the traction rope is wound around the roller, the other end of the traction rope extends to the facial area, and the medical tape adheres the end of the traction rope extending to the facial area to the target facial muscles of the patient.

[0008] Preferably, the head-mounted robot body is provided with guide through holes, and the free end of the traction rope passes through one or more guide through holes and extends to the facial area of ​​the head-mounted robot body.

[0009] Preferably, the guide panel is provided with a guide through hole, and the free end of the traction rope passes through the guide through hole on the guide panel and extends to the facial area of ​​the head-mounted robot body.

[0010] Preferably, the power system drives the roller to rotate, and the power system includes a steering gear, a servo motor or a stepper motor.

[0011] Preferably, the traction system and the power system are arranged correspondingly, and multiple groups of the traction system and the power system are arranged on the head-mounted robot body, and the rollers of any traction system are located on the center line of the head-mounted robot body.

[0012] Preferably, the medical tape comprises an adhesive portion and a connecting portion, the adhesive portion is fitted to the patient's face, and the connecting portion is detachably connected to one end of the traction rope extending to the facial area of ​​the head-mounted robot body.

[0013] Preferably, the connecting portion of the medical tape includes a connecting hole, and a limiting connecting block is provided at one end of the traction rope extending to the facial space, the limiting connecting block is installed in the connecting hole, and the traction rope passes through the connecting portion of the medical tape.

[0014] Preferably, a rotary potentiometer is further included, the power system adopts a steering gear, a groove is arranged inside the rotary potentiometer, a protrusion is arranged on the top of the steering gear, and the protrusion on the top of the steering gear is engaged with the groove inside the rotary potentiometer.

[0015] Preferably, it also includes a power supply, which includes a built-in power supply or a power socket, and the power supply is connected to the power system through a wire.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] 1. The utility model drives the traction system to move through the power system, applies appropriate force and resistance to the patient's facial muscles to promote muscle movement and activity. By wearing the facial paralysis rehabilitation training robot and performing specific facial exercises and training, the range of motion of the facial muscles can be increased, the neuromuscular connection can be improved, and the recovery of facial expressions can be promoted. It can be personalized according to the patient's specific situation, providing appropriate force and resistance to help the patient gradually restore the function of the facial muscles.

[0018] 2. The utility model uses the guide perforations and the guide panel to control the direction of the traction rope, and finally reaches the facial area, thereby achieving guidance and control of the pulling position and direction.

[0019] 3. The utility model utilizes computer vision technology to identify the movements of the normal side of the patient's face, and then uses the identified movement information to control the facial muscle repair robot. It can accurately customize rehabilitation training according to the patient's own facial movements. This can not only improve the efficiency of rehabilitation, but also increase the safety and comfort of the rehabilitation process to a certain extent, and can promote the recovery of the paralyzed side muscles more naturally and effectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0021] Figure 1 This is a diagram showing the internal structure of the head-mounted robot body;

[0022] Figure 2 This is a front view schematic diagram of the facial area of ​​the head-mounted robot body of the present invention;

[0023] Figure 3 This is a side view of the facial area of ​​the head-mounted robot body of the utility model;

[0024] Figure 4 This is a schematic diagram of the installation structure of the rotary potentiometer and the steering gear that mainly embodies the utility model;

[0025] Figure 5 This is an exploded view of the detachable connection structure of the traction rope and the medical tape mainly embodied in the utility model;

[0026] Figure 6This is a schematic diagram of the connection structure of the traction rope and the medical tape mainly embodied in the utility model;

[0027] Figure 7 This is the logic diagram of the control system mainly embodied in the utility model;

[0028] Figure 8 This is the principle diagram of the PID control system mainly embodied in the utility model;

[0029] Fig. 9 This is a diagram of a rehabilitation training robot system mainly embodied in the utility model;

[0030] Fig.10 This is a client framework diagram mainly embodied in the utility model;

[0031] Fig.11 This is the main interface effect diagram of the APP that mainly reflects the utility model;

[0032] Fig.12 This is the main effect diagram of the APP facial detection report of this utility model;

[0033] Fig.13 This is the main effect diagram of the APP control page of this utility model;

[0034] Fig.14 This is a diagram showing the effect of APP training data recording.

[0035] Fig.15 This utility model mainly embodies the Internet of Things architecture diagram;

[0036] Fig.16 This is a diagram showing the effect of setting the APP pulling distance parameters in the present utility model;

[0037] Fig.17 The utility model mainly embodies the user operation flow chart.

[0038] Reference numerals:

[0039] Head-mounted robot body 1 Connection hole 33

[0040] Traction rope 2 Roller 4

[0041] Limiting connection block 21 Guide perforation 5

[0042] Medical tape 3 Servo 6

[0043] Adhesion part 31 Guide panel 7

[0044] Connecting part 32 Rotary potentiometer 8 DETAILED DESCRIPTION

[0045] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the utility model. These all belong to the protection scope of the utility model.

[0046] like Figure 1 As shown, a facial paralysis rehabilitation training robot provided by the utility model includes a head-mounted robot body 1, a control system, a power system, a traction system and a power system. The control system, the power system and the traction system are all installed on the head-mounted robot body 1, the power system serves as a power source, and the traction system extends from the head-mounted robot body 1 to the facial area. Under the action of the control system, the power system drives the traction system to stretch or relax the target facial muscles of the patient.

[0047] The power supply includes a built-in power supply or an external power supply, and the power supply is connected to the electrical devices on the facial paralysis rehabilitation training robot through a wire. The power supply system can be a built-in power supply, such as a battery. The power supply system can also be an external power supply, such as a charging socket. The power supply system supplies power to any electrical device on the facial paralysis rehabilitation training robot.

[0048] Under the control system, the power system drives the traction system to move, applying appropriate force and resistance to the patient's facial muscles to promote muscle movement and activity. By wearing the facial paralysis rehabilitation training robot and performing specific facial movements and training, patients can actively participate in the rehabilitation process of facial muscles. The use of the facial paralysis rehabilitation training robot can increase the range of motion of facial muscles, improve neuromuscular connection, and promote the recovery of facial expressions. It can be personalized according to the patient's specific situation, providing appropriate force and resistance to help patients gradually restore the function of facial muscles.

[0049] Specifically, the traction system includes a traction rope 2, a medical tape 3, and a roller 4. One end of the traction rope 2 is wound around the roller 4, and the other end of the traction rope 2 extends to the facial area. The medical tape 3 sticks the end of the traction rope 2 extending to the facial area to the target facial muscle of the patient. Further, the traction system is arranged inside the head-mounted robot body 1, and a guide through hole 5 is arranged on the inner wall of the head-mounted robot body 1. The free end of the traction rope 2 passes through one or more guide through holes 5 and extends to the facial area of ​​the head-mounted robot body 1.

[0050] The power system drives the roller 4 to rotate, and the power system includes a steering gear 6, a servo motor or a stepper motor. The present application preferably uses a 360° steering gear 6, and the steering gear 6 is installed inside the head-mounted robot body 1. The steering gear 6 pulls the facial muscles by pulling the rope. Figure 5 and Figure 6 As shown, the medical tape 3 includes an adhesive portion 31 and a connecting portion 32. The adhesive portion 31 fits the patient's face, and the connecting portion 32 is detachably connected to one end of the traction rope 2 extending to the facial area of ​​the head-mounted robot body 1. The connecting portion 32 of the medical tape 3 includes a connecting hole 33. The end of the traction rope 2 extending to the facial space is provided with a limited connection block 21. The limited connection block 21 is installed in the connecting hole 33, and the traction rope 2 passes through the connecting portion 32 of the medical tape 3. Conventional medical tape 3 will lose its stickiness with repeated use, so the present application also proposes a detachable structure. The lower half of the tape is sticky, the upper half is not sticky, and there are two connecting holes 33. The end of the traction rope 2 passes through the limited connection block 21 composed of a certain structure. The inner diameter of one end of the limited connection block 21 is smaller than that of the rope. After the rope passes through, it is knotted to achieve fixation, and the whole passes through the connecting hole 33 of the tape to achieve fixation.

[0051] The end of the traction rope 2 is attached to the corresponding facial muscles through the medical tape 3. When the steering gear 6 rotates a certain angle, it will pull the traction rope 2 to move a certain distance, thereby driving the facial muscles. These steering gears 6 are used to pull the muscles that are often affected by patients with facial paralysis. Preferably, three muscles are selected in this application, namely the frontalis muscle, the zygomatic major muscle and the risorius muscle, but they are not limited to these three muscles, and the number and type can be changed.

[0052] The present application proposes a feasible implementation method: a guide panel 7 is provided on the head-mounted robot body 1, and the guide panel 7 is integrally formed with or fixedly connected to the head-mounted robot body 1. The traction system extends from the head-mounted robot body 1 through the guide panel 7 to the facial area, and / or the traction system extends from the head-mounted robot body 1 to the facial area without passing through the guide panel 7. The power system drives the traction system to pull or relax the target facial muscles of the patient. A guide perforation 5 is provided on the guide panel 7, and the free end of the traction rope 2 passes through the guide perforation 5 on the guide panel 7 and extends to the facial area of ​​the head-mounted robot body 1. The guide perforation 5 and the guide panel 7 are used to control the direction of the traction rope 2, and finally reach the facial area, so as to realize the guidance and control of the traction position and direction.

[0053] The traction system and the power system are arranged in correspondence, and multiple groups of the traction system and the power system are arranged on the head-mounted robot body 1, and the rollers 4 of any traction system are located on the center line of the head-mounted robot body 1. This application takes the arrangement of three groups of traction systems as an example, wherein two groups of traction systems enter the facial area through the guide panel 7, and one group of traction systems directly enters the facial area.

[0054] like Figure 7 and Figure 8As shown, a rotary potentiometer 8 is provided on the power system to read the rotation angle information. The power system adopts a steering gear 6. A groove is provided inside the rotary potentiometer 8. A protrusion is provided on the top of the steering gear 6. The protrusion on the top of the steering gear 6 is engaged with the groove inside the rotary potentiometer 8 to form a PID closed-loop control system. When the steering gear 6 rotates, it drives the slider inside the rotary potentiometer 8 to do a circular motion, and the resistance changes. The microcontroller reads the voltage change value caused by the resistance change, so that the accurate rotation angle at this time can be calculated.

[0055]

[0056] Where L is the ideal pulling distance. is the rotational angular velocity, and D is the diameter of the shaft

[0057]

[0058] Where La is the actual pulling distance, V is the voltage detected by the angle sensor, Vmax is the full-rated voltage D, n is the number of rotations, and D is the diameter of the shaft.

[0059] The control system includes a microcontroller, a wireless transmission module, a switch and a control button. The wireless transmission module provides support for Bluetooth and WIFI. The rotary potentiometer 8 is used to detect the rotation angle of the servo 6. The switch is used to cut off and connect the power supply. The control button is used to switch the program. The microcontroller executes the program, reads the data of the rotary potentiometer 8 sensor, and issues commands to the servo 6 group. The lead wires of the control button are welded and connected to the central square PCB. The PCB board has an onboard wireless transmission module and a microcontroller chip. When there is no external power supply, the system can be powered by a lithium battery. When there is an external power supply, the external power supply is used through the charging port.

[0060] There are two types of servos 6: 180° and 360°. The 180° servo 6 can achieve precise angle control within 180°, but its rotation angle is limited, which also leads to a limited pulling distance. Therefore, in this application, the servo 6 preferably selects a 360° servo 6, which can achieve multiple turns of rotation and ensure a long pulling distance. However, the 360° servo 6 is achieved by controlling the speed, and its angle is not sensitive. Therefore, this application adds a rotary potentiometer 8 to measure the actual rotation angle of the servo 6 in real time to form a closed-loop control. The mathematical expression of the PID closed-loop control system can be expressed as:

[0061]

[0062] This formula indicates that the PID control system calculates the control signal based on the current error and the rate of change of the error, where u(t) is the control signal output by the controller at time t; Kp, Ki, Kd are the proportional gain, integral gain, and differential gain respectively; e(t) is the error between the input signal and the expected value; The integral term of the error is adjusted according to the accumulated error to eliminate the static error of the system. It is the derivative of the error, that is, the rate of change of the error, and is used to control the dynamic response of the system.

[0063] The calculation process of the system is as follows: the system stores the pulling distance, and the control chip first solves the rotation angular velocity according to formula (1), which corresponds to the speed parameter of the 360° servo 6 drive. According to the program setting, the servo 6 is driven to rotate, and the voltage value of the potentiometer and the number of revolutions are read in real time. The actual pulling distance is calculated using formula (2), and compared with the set pulling distance. Formula (3) is calculated to finally realize PID closed-loop control, and finally realize the precise rotation of the 360° servo 6, which finally brings about the precise skin pulling distance.

[0064] Under the action of different control system programs, the steering gear 6 operates in different orders and frequencies to realize the switching of different facial movement training. For example, there is a set of 10-minute training, first the eyebrow raising training is 5 minutes and 20 times, and then the smile training is 5 minutes. Correspondingly, the steering gear 6 responsible for pulling the forehead muscle rotates repeatedly 20 times within 5 minutes, and then the steering gear 6 responsible for pulling the zygomatic muscle rotates repeatedly 20 times within 5 minutes, driving the muscle contraction and stretching.

[0065] There are two ways to control the program switching of the servo 6: hardware control and software control: Hardware control method: There are a power switch and a program switching button on the facial muscle function repair robot. The power supply is open source to realize the startup and shutdown of the entire robot system, and the program switching button can switch different training methods. This method is relatively simple and mechanical.

[0066] According to a facial paralysis rehabilitation training system provided by the present application, it also includes a visual device, which collects muscle movement information on the normal side of the patient's face. The control system controls the traction system to drive the muscles on the patient's facial paralysis side to make corresponding movements based on the muscle movement information on the normal side collected by the visual device. This enables the patient to actively carry out rehabilitation training. It is very important for patients to actively participate in facial paralysis training. Patients can autonomously control facial muscle stretching for training, which can enhance neuromuscular connection and promote the recovery of facial muscle function. Our facial muscle repair robot can provide certain assistance for their training, making the training effect better.

[0067] like Fig. 9As shown, the present application also proposes an innovative control strategy, the core of which is to use computer vision technology to identify the movements of the patient's normal side of the face, and then use the identified movement information to control the facial muscle repair robot, which can accurately customize rehabilitation training according to the patient's own facial movements. This can not only improve the efficiency of rehabilitation, but also increase the safety and comfort of the rehabilitation process to a certain extent, and can promote the recovery of the paralyzed side muscles more naturally and effectively.

[0068] That is, the facial movements of the patient at this time are detected and traction is triggered accordingly. Regarding how to detect the facial movements of the normal side of the patient and trigger traction on the paralyzed side accordingly, this application adopts computer vision technology. Computer vision technology can preferably use OpenFace. OpenFace is an open source and high-performance facial behavior analysis tool, which is widely used in the fields of facial feature point detection, head posture estimation, facial action unit recognition, etc. It is based on machine learning methods, especially deep learning, to train facial recognition and analysis models. This application uses openface detection to obtain the user's facial AU data. "AU" usually refers to "Action Units". The analyzed AU data is then communicated with the facial muscle function repair robot through a computer's communication module, such as a Bluetooth module, a wireless module, etc., to guide the facial muscle repair robot to make corresponding instructions.

[0069] For example, the facial action of smiling usually involves AU12 (levator angustus lipi), which involves the lifting and abduction of the lip corners. The degree of activity can be quantified by the following formula:

[0070] AU12=f(E)

[0071] Among them, f(E) represents a function that extracts the activity level of AU12 from the facial expression E, and outputs a value between 0 and 1, representing the activity level of the lip angle muscle. When this value exceeds the preset threshold θ, the system recognizes this behavior as a smiling expression. Mathematically, this can be expressed as:

[0072]

[0073] In this scenario, θ is an empirically determined threshold used to distinguish between smiling and non-smiling expressions, such as θ = 0.4. Through real-time monitoring and traversal detection, the values ​​of each AU are calculated. When AU12>0.4 is found, the user is determined to be smiling, and the facial muscle repair robot is driven to pull the muscles at the corners of the mouth on the paralyzed side, thereby achieving a smiling movement on the paralyzed side of the face. This method not only increases the accuracy of the processing process, but also improves the objectivity and efficiency of intervention through quantitative analysis.

[0074] like Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 as well as Fig.17 As shown, it also includes a cloud and a mobile terminal, the mobile terminal is connected to the cloud, and the mobile terminal and the cloud are respectively connected to the control system of the head-mounted robot body 1. The remote control terminal is a mobile phone or a computer, and the facial muscle function repair robot can be remotely controlled through wireless communication technologies such as Bluetooth or WIFI. The software part of the mobile terminal has a detection function, which can evaluate the level of facial paralysis, thereby providing personalized rehabilitation treatment. Users can check the connection status of the facial muscle repair robot and can choose different modes. Users can also view their historical training data.

[0075] At the same time, the system uses the Internet of Things technology to realize the combination of the doctor side and the user side. The user can send instructions to the server through the mobile terminal at any location, or use Bluetooth direct connection or manually adjust the button to switch the use status and program of the facial muscle function repair robot. Preferably, the mqtt protocol can be used. The user can also make an appointment with the therapist to re-evaluate his current status. According to the actual situation, the therapist can remotely use the server as an intermediary to remotely adjust the parameters and training program of the facial traction distance for the user. Adjustment method such as Fig.16 As shown, the position of the patch on the face is visualized and the distance that each facial muscle needs to be assisted in stretching can be modified according to the actual situation of the patient. After clicking Save, the facial muscles will be stretched according to the saved parameters during the next rehabilitation.

[0076] Users can view their training records and set training methods. Compared with hardware control, software control provides more operational details, is easy to use, and is user-friendly. The specific reasons are as follows: First, compared with hardware control, software control can provide more details and visual feedback, and makes operations such as viewing training records and setting training methods more flexible and convenient. In addition, combined with the Internet of Things and Internet systems, the application also supports communication between users and therapists. Users can make an appointment with therapists to re-evaluate them, modify and adjust the programs and parameters of their facial muscle function repair robots, so as to achieve more personalized and better rehabilitation effects.

[0077] User operation process Fig.17 As shown, the user puts on the facial muscle function repair robot, turns on the power switch, then opens the software of the host computer, selects a rehabilitation course, follows the voice and visual guidance of the rehabilitation course, faces the camera of the host computer, and makes facial movements. At this time, the facial muscle function repair robot will also drive the traction of the paralyzed side according to the user's facial movements to realize the rehabilitation training process.

[0078] According to a facial paralysis rehabilitation training method provided by the present application, the training method comprises the following steps: a visual device collects muscle movement information on the normal side of the patient's face, the visual device sends the collected muscle movement information on the normal side of the patient's face to a control system, and the control system controls the traction system to drive the muscles on the facial paralysis side of the patient to make corresponding movements according to the muscle movement information on the normal side collected by the visual device;

[0079] Or, the mobile terminal sends control information to the control system, and the control system controls the traction system according to the control information to drive the muscles on the side of the patient's facial paralysis to make corresponding movements;

[0080] Alternatively, the mobile terminal sends instructions to the cloud, the cloud processes the received instructions to generate control information, the cloud sends the generated control information to the control system, and the control system controls the traction system according to the control information to drive the muscles on the paralyzed side of the patient to make corresponding movements.

[0081] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0082] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims

1. A facial paralysis rehabilitation training robot, characterized in that: It comprises a head-mounted robot body (1), a power system and a traction system, wherein both the power system and the traction system are mounted on the head-mounted robot body (1); The head-mounted robot body (1) is provided with a guide panel (7), the traction system extends from the head-mounted robot body (1) through the guide panel (7) to the facial area, and / or the traction system extends from the head-mounted robot body (1) to the facial area without passing through the guide panel (7); The power system drives the stretching system to stretch or relax the target facial muscles of the patient.

2. The facial paralysis rehabilitation training robot according to claim 1, characterized in that: The traction system comprises a traction rope (2), a medical tape (3) and a roller (4), one end of the traction rope (2) is wound around the roller (4), the other end of the traction rope (2) extends to the facial area, and the medical tape (3) adheres the end of the traction rope (2) extending to the facial area to the target facial muscle of the patient.

3. The facial paralysis rehabilitation training robot according to claim 2, characterized in that: The head-mounted robot body (1) is provided with guide through holes (5), and the free end of the traction rope (2) passes through one or more guide through holes (5) and extends to the facial area of ​​the head-mounted robot body (1).

4. The facial paralysis rehabilitation training robot according to claim 3, characterized in that: The guide panel (7) is provided with a guide through hole (5), and the free end of the traction rope (2) passes through the guide through hole (5) on the guide panel (7) and then extends to the facial area of ​​the head-mounted robot body (1).

5. The facial paralysis rehabilitation training robot according to claim 2, characterized in that: The power system drives the roller (4) to rotate, and the power system comprises a steering gear (6), a servo motor or a stepping motor.

6. The facial paralysis rehabilitation training robot according to claim 2, characterized in that: The traction system and the power system are arranged in correspondence with each other. Multiple groups of the traction system and the power system are arranged on the head-mounted robot body (1), and the rollers (4) of any traction system are located on the center line of the head-mounted robot body (1).

7. The facial paralysis rehabilitation training robot according to claim 2, characterized in that: The medical tape (3) comprises an adhesive portion (31) and a connecting portion (32), wherein the adhesive portion (31) is fitted to the patient's face, and the connecting portion (32) is detachably connected to one end of the traction rope (2) extending to the facial area of ​​the head-mounted robot body (1).

8. The facial paralysis rehabilitation training robot according to claim 7, characterized in that: The connecting portion (32) of the medical tape (3) comprises a connecting hole (33); a limiting connecting block (21) is provided at one end of the traction rope (2) extending to the facial space; the limiting connecting block (21) is installed in the connecting hole (33); and the traction rope (2) passes through the connecting portion (32) of the medical tape (3).

9. The facial paralysis rehabilitation training robot according to claim 1, characterized in that: It also comprises a rotary potentiometer (8), the power system adopts a steering gear (6), a groove is arranged inside the rotary potentiometer (8), a protrusion is arranged on the top of the steering gear (6), and the protrusion on the top of the steering gear (6) is engaged with the groove inside the rotary potentiometer (8).

10. The facial paralysis rehabilitation training robot according to claim 1, characterized in that: It also includes a power source, which includes a built-in power source or an external power source, and the power source is connected to the power system through a wire.

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